Biped robot gait control method and robot and computer readable storage medium using the same

ABSTRACT

A biped robot gait control method as well as a robot and a computer readable storage medium are provided. During the movement, the system obtains a current supporting pose of a current supporting leg of the biped robot, and calculates a relative pose between the supporting legs based on the current supporting pose and a preset ideal supporting pose of a next step. The system further calculates modified gait parameters of the next step based on the relative pose between the two supporting legs and a joint distance between left and right ankle joints in an initial state of the biped robot when standing. Finally, the system controls the next supporting leg to move according to the modified gait parameters.

CROSS REFERENCE TO RELATED APPLICATIONS

The present disclosure claims priority to Chinese Patent Application No.202011284461.8, filed Nov. 17, 2020, which is hereby incorporated byreference herein as if set forth in its entirety.

BACKGROUND 1. Technical Field

The present disclosure relates to robot motion technology, andparticularly to a biped robot gait control method as well as a robot anda computer readable storage medium using the same.

2. Description of Related Art

Since biped robot is a kind of robot which is the most likely to servehumans in the environments where humans live and work, which have alwaysbeen a popular research topic in robotic technology. In a scenario wherebiped robots work 1 coordinately, the relative distance between therobots may be very small. On the one hand, if only care about the endpoint accuracy of the biped robot without performing positional closedlooping on the process of walking, it will cause the robot to collidewith others. On the other hand, if the correction algorithm used by therobot only corrects the end point of the motion path, it will not beable to guarantee the time for the robot to reach the stop condition(i.e., the number of steps used by the robot to move to the end point),and thus cannot meet the consistency of the team of robots on thetimeline, and may cause collisions between robots.

BRIEF DESCRIPTION OF THE DRAWINGS

To describe the technical schemes in the embodiments of the presentdisclosure or in the prior art more clearly, the following brieflyintroduces the drawings required for describing the embodiments or theprior art. It should be understood that, the drawings in the followingdescription merely show some embodiments. For those skilled in the art,other drawings can be obtained according to the drawings withoutcreative efforts.

FIG. 1 is a flow chart of a biped robot gait control method according toan embodiment of the present disclosure.

FIG. 2 is a flow chart of a gait control in the entirety of the movementof a biped robot according to an embodiment of the present disclosure.

FIG. 3 is a schematic block diagram of a biped robot gait controlapparatus according to an embodiment of the present disclosure.

FIG. 4 is a schematic block diagram of a robot according to anembodiment of the present disclosure.

FIG. 5 is a schematic diagram of calculating gait parameters of a nextstep of the biped robot based on a current supporting pose of a currentsupporting leg of the biped robot and a preset ideal supporting pose ofa next step of the biped robot in the biped robot gait control methodshown in FIG. 1 and the gait control shown in FIG. 2 .

DETAILED DESCRIPTION

In order to make the objectives, technical solutions, and advantages ofthe present disclosure clearer, the following further describes thepresent disclosure in detail with reference to the drawings andembodiments. It should be understood that, the embodiments describedherein are only for explaining the present disclosure, and are not usedto limit thereto.

FIG. 1 is a flow chart of a biped robot gait control method according toan embodiment of the present disclosure. In this embodiment, the bipedrobot gait control method is a computer-implemented method executablefor a processor, which controls the gait of a biped robot. The bipedrobot has two supporting legs each including a hip joint, a knee joint,an ankle joint, and a foot. The method may be implemented through abiped robot gait control apparatus shown in FIG. 3 or a robot shown inFIG. 4 . As shown in FIG. 1 , the method includes the following steps.

S1: obtaining a current supporting pose of a current supporting leg ofthe two supporting legs of the biped robot.

S2: calculating a relative pose between the supporting legs of the bipedrobot based on the current supporting pose and a preset ideal supportingpose of a next step of the biped robot, where the relative pose betweenthe support feet is the preset ideal supporting pose of the next stepwith respect to the current supporting pose.

S3: calculating gait parameter(s) of the next step of the biped robotbased on the relative pose between the supporting legs and a jointdistance of left and right ankle joints of the biped robot in an initialstate of the biped robot.

S4: controlling a next supporting leg of the two supporting legs of thebiped robot to move according to the gait parameter(s) of the next step.

In this embodiment, the system (e.g., the operating system or controlsystem) of the biped robot has built a global coordinate systemcorresponding to the entire environment where the biped robot iscurrently located. The global coordinate system is fixed (i.e., it willnot change its position with the movement of the biped robot), and thebiped robot is moved according to a preset motion path in the entireenvironment. Hence, the global coordinate system may take the startingpoint of the motion path of the biped robot in the entire environment asits origin, and the motion path of the biped robot in the entireenvironment is represented by the corresponding coordinates of points inthe global coordinate system. The biped robot is provided with a camera,and the positional relationship between the camera and the centroid(i.e., the center of mass) of the biped robot is fixed, that is, thecoordinate conversion relationship between the two is fixed. Therefore,the system may calculate the pose (i.e., the position and the posture,which may include the displacement in the y direction of the globalcoordinate system, and the displacement in the x direction of the globalcoordinate system, and the yaw angle of the supporting legs of the bipedrobot in the z direction of the global coordinate system) of the camerain the global coordinate system through the image of the environmentwhich is captured by the camera when the biped robot moves, so as tocalculate the pose of the centroid in the global coordinate system, thatis, the centroid pose, base on the coordinate conversion relationshipbetween the camera and the centroid of the biped robot. Furthermore, acentroid coordinate system is also built in the system. The centroidcoordinate system is built with the centroid of the biped robot as theorigin of the coordinate system, and will move with the movement of thebiped robot (the origin of the centroid coordinate system is on thebiped robot, hence its position in the global coordinate system willchange with the movement of the biped robot). In this embodiment, themidpoint of a straight line between the two hip joints of the bipedrobot is set as the centroid of the biped robot. The kinematictransformations from the centroid of the biped robot to the currentsupporting leg (the current supporting leg is the leg of the biped roboton which a force is currently acting on, for details, referring to theforce acting on the legs of human body when walking) can be taken as aplurality of links (i.e., the hip joints corresponding to the centroidto the current supporting legs as well as the thigh and calve of thecurrent supporting legs may be simply taken as links) to connect to eachother, where the centroid and the current supporting leg are at the twoends of a head and tail link of the biped robot, respectively. Thesystem obtains the positional relationship between the currentsupporting leg and the centroid through the current angle of each link(the joint of the biped robot), thereby obtaining the supporting pose ofthe current supporting leg in the centroid coordinate system. Then, thesystem obtains the current supporting pose of the current supporting legin the global coordinate system through coordinate system conversionbased on the supporting pose of the current supporting leg in thecentroid coordinate system and the centroid pose of the centroid in theglobal coordinate system. The system calculates the relative posebetween the supporting legs of the biped robot based on the currentsupporting pose and the preset ideal supporting pose of the next step ofthe biped robot.

In which, the preset ideal supporting pose of the biped robot in thenext step is the pose of the next supporting leg of the biped robot whenfalling after the next movement that is in the original preset motionpath of the biped robot. The relative pose between the supporting legsof the biped robot is the falling point of the next supporting leg ofthe biped robot in the preset ideal supporting pose of the next step,which is relative to the pose at the falling point of the currentsupporting leg in the current supporting pose. Then, the systemcalculates the gait parameters of the next step of the biped robot basedon the relative pose between the supporting legs of the biped robot andthe joint distance of the left and right ankle joints of the biped robotin the initial state (i.e., the standing) of the biped robot. Afterobtaining the gait parameters of the next step, the system controls thenext supporting leg of the biped robot to move according to the gaitparameters of the next step, so that the next supporting leg of thebiped robot falls on the predetermined falling point. In thisembodiment, before the supporting leg of the biped robot falling in thenext step, a corresponding calculation is made according to apre-planned ideal falling point (i.e., the preset ideal supporting poseof the next step) and the current actual falling point, so as to correctthe gait parameters of the next step of the biped robot, therebyrealizing the error compensation to avoid the falling point of the nextsupporting leg from deviating from the pre-planned motion path.

Furthermore, the step S1 of obtaining a current supporting pose of acurrent supporting leg of the two supporting legs of the biped robotincludes:

S101: obtaining a centroid pose of a centroid of the biped robot in aglobal coordinate system and a supporting pose of the current supportingleg in a centroid coordinate system, where the centroid coordinatesystem is built by taking the centroid of the biped robot as an origin,and the global coordinate system corresponds to an entire environmentthe biped robot being located.

S102: obtaining the current supporting pose of the current supportingleg in the global coordinate system through a coordinate systemtransformation based on the supporting pose and the centroid pose.

In this embodiment, the global coordinate system and the centroidcoordinate system are built inside the system. In which, the globalcoordinate system corresponds to the entire environment where the bipedrobot is currently located, which may use the starting point of thepreset motion path of the biped robot as the origin of the coordinatesystem to represent the positional change of the biped robot in theentire environment when it moves (i.e., the pose of the biped robot inthe global coordinate system can represent the position of the bipedrobot in the entire environment). The centroid coordinate system is acoordinate system built using the centroid of the biped robot as theorigin of the coordinate system, where the centroid of the biped robotis the midpoint of a straight line between the two hip joints. Thecamera is fixed on the biped robot, and the positional relationshipbetween the camera and the centroid of the biped robot is fixed, thatis, the coordinate conversion relationship between the two is fixed.Therefore, the system can calculate the pose of the camera in the globalcoordinate system through the environmental images taken by the camerawhen the biped robot moves, and then calculate the pose of the centroidin the global coordinate system according to the coordinate conversionrelationship between the camera and the centroid of the biped robot,that is, the centroid pose. The kinematic transformations from thecentroid of the biped robot to the current supporting leg can be takenas a plurality of links (i.e., the hip joints corresponding to thecentroid to the current supporting legs as well as the thigh and calveof the current supporting legs may be simply taken as links) to connectto each other, where the centroid and the current supporting leg are atthe two ends of a head and tail link of the biped robot, respectively.The system obtains the positional relationship between the currentsupporting leg and the centroid through the current angle of each link(the joint of the biped robot), thereby obtaining the supporting pose ofthe current supporting leg in the centroid coordinate system. In oneembodiment, the system obtains the hip joint angle, knee joint angle,and ankle joint angle of the current supporting leg, and analyze the hipjoint angle, knee joint angle, ankle joint angle, the thigh length ofthe current supporting leg, the calf length of the current supportingleg, and the distance between the two hip joints of the biped robot toobtain the supporting pose of the current supporting leg in the centroidcoordinate system. Then, the system obtains the current supporting poseof the current supporting leg in the global coordinate system throughcoordinate system conversion based on the supporting pose of the currentsupporting leg in the centroid coordinate system and the centroid poseof the centroid in the global coordinate system.

Furthermore, the centroid is the midpoint of the straight line betweenthe two hip joints two hip joints of the biped robot, and the obtainingthe supporting pose of the current supporting leg in the centroidcoordinate system includes:

S1011: obtaining a hip joint angle, a knee joint angle, and an anklejoint angle of the current supporting leg.

S1012: analyzing the supporting pose of the current supporting leg inthe centroid coordinate system based on the hip joint angle, the kneejoint angle, the ankle joint angle, a thigh length of the currentsupporting leg, a calf length of the current supporting leg, and adistance between the two hip joints of the biped robot.

In this embodiment, the centroid of the biped robot is the midpoint ofthe straight line between the two hip joints, and the system uses thecentroid as the origin of the coordinate system to build the centroidcoordinate system in advance. When the biped robot is moved, the systemwill automatically record the changes of the angle of each joint of thetwo legs of the biped robot. The system obtains the hip joint angle andthe knee joint angle of the current supporting leg automatically, wherethe current supporting leg includes the thigh and the calf, and the hipjoint angle is the included angle between the thigh of the currentsupporting leg and the hip joint (or the included angle between thethigh and the connection point of the trunk), the knee joint angle isthe included angle between the thigh and the calf of the currentsupporting leg, and the ankle joint angle is the included angle betweenthe calf and the sole of the current supporting leg. Since the origin ofthe centroid coordinate system is the midpoint of the straight linebetween the two hip joints, the pose of the hip joint where the currentsupporting leg is located can be determined according to the distancebetween the two hip joints of the legs. After obtaining the pose of thehip joint where the current supporting leg is located, the system canobtain the pose of the knee joint in the centroid coordinate systembased on the hip joint angle and the thigh length. Furthermore, thesystem can calculate the pose of the foot of the current supporting legin the centroid coordinate system based on the knee joint angle, thecalf length and the ankle joint, and this pose is the supporting pose.In this embodiment, the lengths of the thigh and the calf can bemeasured in advance by the developer and stored in the internal databaseof the system, and can be directly called when needed.

Furthermore, the step S4 of controlling a next supporting leg of the twosupporting legs of the biped robot to move according to the one or moregait parameters of the next step includes:

S401: performing an amplitude limiting on the one or more gaitparameters of the next step based on one or more preset ideal gaitparameters of the next step to obtain one or more modified gaitparameters.

S402: controlling the next supporting leg to move according to the oneor more modified gait parameters.

In this embodiment, the system can analyze the gait parameters of thenext supporting leg of the biped robot in the movement of the next stepbased on the relative pose between the supporting legs. In order toavoid that there is too much deviation between the calculated value(i.e., the gait parameters of the next step) and the expected value(i.e., the ideal gait parameters, which corresponds to the preset idealsupporting pose of the next step), the system performs an amplitudelimiting on the gait parameters of the next step based on the presetideal supporting pose of the next step to obtain the modified gaitparameters. That is, the maximum deviations in the x direction, the ydirection and the yaw angle of the next step is given based on the idealgait parameters of the next step so as to limit the deviations in theabove-mentioned directions. For example, in the case that the ideal gaitparameter is (4, 5, 15°) and the maximum deviations in the x and ydirections are limited to 1 cm and the deviation in the yaw angle islimited to 1°, if the gait parameters of the next step is (2, 6, 18°),the modified gait parameters after the amplitude limiting will be (3, 6,16°). The system directly controls the next supporting leg of the bipedrobot to move according to the modified gait parameters. For example, ifthe modified gait parameters are (3, 6, 16°), the next supporting leg ofthe biped robot is controlled to move 3 cm in the x direction, move 6 cmin the y direction, and form the included angle of 16° in the xdirection.

Furthermore, after the step 401 of performing the amplitude limiting onthe one or more gait parameters of the next step based on one or morepreset ideal gait parameters of the next step to obtain one or moremodified gait parameters, the method further includes:

S4021: determining whether a collision will occur after the nextsupporting leg moves according to the one or more modified gaitparameters.

S4022: correcting the one or more modified gait parameters according toa pose of an object going to collide with the next supporting leg toobtain one or more second modified gait parameters, in response to thecollision will occur after the next supporting leg moves according tothe one or more modified gait parameters.

S4023: controlling the next supporting leg to move according to the oneor more second modified gait parameters to avoid collision.

In this embodiment, after the system obtains the modified gaitparameters, it correspondingly obtains the falling point of the nextsupporting leg of the biped robot in the next step after the amplitudelimiting. The system may determine that whether there are other objects(e.g., obstacles or other robots) in the position corresponding to themodified gait parameters in the current environment by shooting usingthe camera on the biped robot or infrared scanning, so as to determinewhether the next supporting leg of the biped robot will collide withother objects after the next supporting leg is moved according to themodified gait parameters. If the system has detected of other objectslocated in the position corresponding to the modified gait parameters inthe current environment, it is determined that there will be a collisionafter the next supporting leg of the biped robot is moved according tothe modified gait parameters. At this time, the system may correct themodified gait parameters again according to the pose of the object thatwill collide with the next supporting leg, so that the next supportingleg avoids the colliding object at the falling point of the nextsupporting leg in the next step to obtain second modified gaitparameter(s). In one embodiment, the system may correct the modifiedgait parameters based on the pose of the area occupied by the collisionobject. For example, if the pose of the area occupied by the collidingobject is (4-6, 9-12, 0°), and the modified gait parameters are (5, 10,16°), it can be corrected to the second modified gait parameters (3, 8,16°) to avoid the area where the colliding object is located. The systemwill control the next supporting leg of the biped robot to moveaccording to the second modified gait parameters to avoid collision.

FIG. 5 is a schematic diagram of calculating gait parameters of a nextstep of the biped robot based on a current supporting pose of a currentsupporting leu of the biped robot and a preset ideal supporting pose ofa nest step of the biped robot. Furthermore, the gait parameters includea forward displacement, a lateral displacement, and a yaw angle (asshown in x, y and θ in FIG. 5 ), and the step S2 of calculating therelative pose between the supporting legs of the biped robot based onthe current supporting pose and the preset ideal supporting pose of thenext step of the biped robot include:

201: substituting the current supporting pose and the preset idealsupporting pose of the next step into first equations to calculate therelative pose between the supporting legs, where the first equationsare:x ₃=(x ₂ −x ₁)×cos θ₁+(y ₂ −y ₁)×sin θ₁;andθ₃=θ₂−θ₁;

where x₁, y₁, and θ₁ represent the current supporting pose, x₁represents a displacement in the x direction of the global coordinatesystem, y₁ represents a displacement in the y direction of the globalcoordinate system, and θ₁ represents a yaw angle in the y direction ofthe global coordinate system; x₂, y₂, and θ₂ represent the preset idealsupporting pose of the next step, x₂ represents a displacement in the xdirection of the global coordinate system, y₂ represents a displacementin the y direction of the global coordinate system, and θ₂ represents ayaw angle in the y direction of the global coordinate system; and x₃ isa lateral displacement of the relative pose between the supporting legs,y₃ is a forward displacement of the relative pose between the supportinglegs, and θ₃ is a yaw angle of the relative pose between the supportinglegs.

In this embodiment, in the process of calculating the relative posebetween the supporting legs of the biped robot, the system substitutesthe current supporting pose and the preset ideal supporting pose of thenext step into the first algorithm for calculation. In which, the firstalgorithm includes three formulas, namely x₃=(x₂−x₁)×cos θ₁+(y₂−y₁)×sinθ₁, y₃=−(x₂−x₁)×sin θ₁+(y₂−y₁)×sin θ₁, and θ₃=θ₂−θ₁. x₁, y₁, and θ₁ arethe coordinates of the current supporting pose, which in turn representthe displacement in the x direction of the global coordinate system, thedisplacement in the y direction of the global coordinate system, and theyaw angle in the y direction of the global coordinate system. x₂, y₂,and θ₂ are the coordinates of the preset ideal supporting poses of thenext step, which in turn represent the displacement in the x directionof the global coordinate system, the displacement in the y direction ofthe global coordinate system, and the yaw angle in the y direction ofthe global coordinate system. x₃, y₃, and θ₃ are the relative posesbetween the supporting legs, which in turn represent the lateraldisplacement, the forward displacement, and the yaw angle of therelative pose between the supporting legs. In this embodiment, based onthe current supporting pose and the preset ideal supporting pose of thenext step, the relative pose between the next supporting leg of thebiped robot after the deviation occurs can be accurately predictedthrough the first algorithm.

Furthermore, the step S3 of calculating one or more gait parameters ofthe next step of the biped robot based on the relative pose between thesupporting legs and a joint distance of left and right ankle joints ofthe biped robot in an initial state of the biped robot includes:

S301: identifying whether the current supporting leg is a right foot ofthe two supporting legs.

S302: substituting the relative pose between the supporting legs and thejoint distance into second equations to calculate the one or more gaitparameters of the next step in response to the current supporting legbeing the right foot, where the second equations are:x ₄ =x ₃ −a/2×sin θ₃;y ₄ =y ₃ +a/2×(1+cos θ₃); andθ₄=θ₃;

where, x₄ is a lateral displacement of the one or more gait parametersof the next step, y₄ is a forward displacement of the one or more gaitparameters of the next step, and θ₄ is a yaw angle of the one or moregait parameters of the next step, and a is the joint distance.

S303: substituting the relative pose between the supporting legs and thejoint distance into third equations to calculate the one or more gaitparameters of the next step in response to the current supporting legbeing not the left foot, where the third equations are:x ₄ =x ₃ +a/2×sin θ₃;y ₄ =y ₃ −a/2×(1+cos θ₃); andθ₄=θ₃.

In this embodiment, the system predicts the corresponding gaitparameters (i.e., the gait parameters of the next step) of the nextsupporting leg of the biped robot in the movement of the next step usingthe second algorithm or the third algorithm based on the relative posebetween the supporting legs and the joint distance of the left and rightankle joints when the biped robot is in the initial state. In oneembodiment, the system first identifies whether the current supportingleg of the biped robot is the right leg. If the current supporting legis the right leg, the second algorithm is called, and the relative posebetween the supporting legs and joint distance are substituted into thesecond algorithm for calculation. In which, the second algorithmincludes three formulas of x₄=x₃−a/2×sin θ₃, y₄=y₃+a/2×(1+cos θ₃), andθ₄=θ₃, where x₄, y₄, θ₄ are the gait parameters of the next step, a isthe joint distance (the value of the joint distance can be measured inadvance by the developer and then entered into the database of thesystem for storage). Otherwise, if the current supporting leg is theleft leg, the system calls the third algorithm, and substitutes therelative pose between the supporting legs and the joint distance intothe third algorithm for calculation. In which, the third algorithmincludes three calculation formulas of x₄=x₃+α/2×sin θ₃,y₄=y₃−α/2×(1+cos θ₃), and θ₄=θ₃. In this embodiment, based on therelative pose between the supporting legs and the joint distance of thebiped robot that are calculated in the previous step and joint distance,the system can compensate the error of the gait parameters of each stepof the biped robot through the calculation of the second algorithm orthe third algorithm, so as to avoid the error of the navigation datafrom having a greater impact on the movement of the biped robot, andavoid the deviation of the preset path caused by the movement error.

FIG. 2 is a flow chart of a gait control in the entirety of the movementof a biped robot according to an embodiment of the present disclosure.As shown in FIG. 2 , in this embodiment, the entire process of themovement of the biped robot includes: the system calculating in realtime to obtain the pose of the camera of the biped robot in the globalcoordinate system, and to calculate the pose of the centroid of thebiped robot in the global coordinate system through coordinate systemtransformation. The system obtains the current supporting pose of thecurrent supporting leg through kinematics at the moment of the legfalling of the biped robot, and then determines whether the currentsupporting leg of the biped robot is the left leg or the right leg inreal time, thereby identifying that whether the leg going to fall (i.e.,the next supporting leg) in the next step of the biped robot is theright leg or the left leg, so as to call the corresponding algorithm tocalculate the relative pose between the supporting legs of the bipedrobot. The system inversely calculates the corresponding gait parameters(i.e., the gait parameters of the next step) of the next supporting legin the next step based on the relative pose between the supporting legs,and limits the gait parameters of the next step to obtain the modifiedgait parameters. The system issues the modified gait parameters at themoment when the biped robot enters the period of two legs supporting, soas to ensure that the parameters required by the robot when it raisesits legs have been set, so that the next supporting leg of the bipedrobot can move according to the issued gait parameters. During themovement of the biped robot, the system iteratively performs theabove-mentioned steps, so as to realize the error compensation to themovement parameters of each step of the biped robot.

In this embodiment, in the provided gait control method of the bipedrobot, during the movement, the system obtains the current supportingpose of the current supporting leg of the biped robot, and thencalculate the relative pose between the supporting legs of the bipedrobot based on the current supporting pose and the preset idealsupporting pose of the next step of the biped robot. Then, the systemcalculates the gait parameters of the next step of the biped robot basedon the relative pose between the supporting legs and the joint distanceof the left and right ankle joints of the biped robot in the initialstate. Finally, the system controls the next supporting leg of the bipedrobot to move according to the gait parameters of the next step. Duringthe movement, the system monitors the falling point (i.e., the currentsupporting pose of the current supporting leg) of the biped robot inreal time, and adjusts the gait parameters of the next step of the bipedrobot using the preset algorithm accordingly, so as to realize the realtime correction of the gait parameters of the biped robot to avoid thedeviation of the preset path caused by the movement error, therebyensuring the coordination of the team of robots during movement andtheir consistency on the timeline.

FIG. 3 is a schematic block diagram of a biped robot gait controlapparatus according to an embodiment of the present disclosure. In thisembodiment, the method may be implemented through a robot shown in FIG.4 . As shown in FIG. 3 , the apparatus includes:

-   -   an obtaining module 1 configured to obtain a current supporting        pose of a current supporting leg of the two supporting legs of        the biped robot;    -   a first calculation module 2 configured to calculate a relative        pose between the supporting legs of the biped robot based on the        current supporting pose and a preset ideal supporting pose of a        next step of the biped robot, where the relative pose between        the support feet is the preset ideal supporting pose of the next        step with respect to the current supporting pose;    -   a second calculation module 3 configured to calculate one or        more gait parameters of the next step of the biped robot based        on the relative pose between the supporting legs and a joint        distance of left and right ankle joints of the biped robot in an        initial state of the biped robot; and    -   a control module 4 configured to control a next supporting leg        of the two supporting legs of the biped robot to move according        to the one or more gait parameters of the next step.

Furthermore, the obtaining module 1 includes:

-   -   an obtaining unit configured to obtain a centroid pose of a        centroid of the biped robot in a global coordinate system and a        supporting pose of the current supporting leg in a centroid        coordinate system, where the centroid coordinate system is built        by taking the centroid of the biped robot as an origin, and the        global coordinate system corresponds to an entire environment        the biped robot being located; and    -   a transformation unit configured to obtain the current        supporting pose of the current supporting leg in the global        coordinate system through a coordinate system transformation        based on the supporting pose and the centroid pose.

The centroid is a midpoint of a straight line between two hip joints ofthe biped robot, and the obtaining unit includes:

-   -   an obtaining subunit configured to obtain a hip joint angle, a        knee joint angle, and an ankle joint angle of the current        supporting leg; and    -   an analysis subunit configured to analyze the supporting pose of        the current supporting leg in the centroid coordinate system        based on the hip joint angle, the knee joint angle, the ankle        joint angle, a thigh length of the current supporting leg, a        calf length of the current supporting leg, and a distance        between the two hip joints of the biped robot.

Furthermore, the control module 4 includes:

-   -   a limiting unit configured to perform an amplitude limiting on        the one or more gait parameters of the next step based on one or        more preset ideal gait parameters of the next step to obtain one        or more modified gait parameters; and    -   a first control unit configured to control the next supporting        leg to move according to the one or more modified gait        parameters.

Furthermore, the control module 4 further includes:

-   -   a determination unit configured to determine whether a collision        will occur after the next supporting leg moves according to the        one or more modified gait parameters;    -   a correction unit configured to correct the one or more modified        gait parameters according to a pose of an object going to        collide with the next supporting leg to obtain one or more        second modified gait parameters, in response to the collision        will occur after the next supporting leg moves according to the        one or more modified gait parameters; and    -   a second control unit configured to control the next supporting        leg to move according to the one or more second modified gait        parameters to avoid collision.

Furthermore, the one or more gait parameters include a forwarddisplacement, a lateral displacement, and a yaw angle, and the firstcalculation module 2 includes:

-   -   a first calculation unit configured to substitute the current        supporting pose and the preset ideal supporting pose of the next        step into first equations to calculate the relative pose between        the supporting legs, where the first equations are:        x ₃=(x ₂ −x ₁)×cos θ₁+(y ₂ −y ₁)×sin θ₁;        and        θ₃=θ₂−θ₁;    -   where x₁, y₁, and θ₁ represent the current supporting pose, x₁        represents a displacement in the x direction of a global        coordinate system, y₁ represents a displacement in the y        direction of the global coordinate system, and θ₁ represents a        yaw angle in the y direction of the global coordinate system;        x₂, y₂, and θ₂ represent the preset ideal supporting pose of the        next step, x₂ represents a displacement in the x direction of        the global coordinate system, y₂ represents a displacement in        the y direction of the global coordinate system, and θ₂        represents a yaw angle in the y direction of the global        coordinate system; and x₃ is a lateral displacement of the        relative pose between the supporting legs, y₃ is a forward        displacement of the relative pose between the supporting legs,        and θ₃ is a yaw angle of the relative pose between the        supporting legs.

Furthermore, the second calculation module 3 includes:

-   -   an identification unit configured to identify whether the        current supporting leg is a right foot of the two supporting        legs;    -   a second calculation unit configured to substitute the relative        pose between the supporting legs and the joint distance into        second equations to calculate the one or more gait parameters of        the next step in response to the current supporting leg being        the right foot, where the second equations are:        x ₄ =x ₃−α/2×sin θ₃;        y ₄ =y ₃+α/2×(1+cos θ₃); and        θ₄=θ₃;    -   where, x₄ is a lateral displacement of the one or more gait        parameters of the next step, y₄ is a forward displacement of the        one or more gait parameters of the next step, and θ₄ is a yaw        angle of the one or more gait parameters of the next step, and a        is the joint distance; and    -   a third calculation unit configured to substitute the relative        pose between the supporting legs and the joint distance into        third equations to calculate the one or more gait parameters of        the next step in response to the current supporting leg being        not the left foot, where the third equations are:        x ₄ =x ₃+α/2×sin θ₃;        y ₄ =y ₃−α/2×(1+cos θ₃); and        θ₄=θ₃.

In this embodiment, each module, unit, and subunit of the gait controlapparatus is for executing each step in the above-mentioned gaitcorrection method for the biped robot, which will not be described indetail herein.

In this embodiment, in the provided gait control apparatus of the bipedrobot, during the movement, the system obtains the current supportingpose of the current supporting leg of the biped robot, and thencalculate the relative pose between the supporting legs of the bipedrobot based on the current supporting pose and the preset idealsupporting pose of the next step of the biped robot. Then, the systemcalculates the gait parameters of the next step of the biped robot basedon the relative pose between the supporting legs and the joint distanceof the left and right ankle joints of the biped robot in the initialstate. Finally, the system controls the next supporting leg of the bipedrobot to move according to the gait parameters of the next step. Duringthe movement, the system monitors the falling point (i.e., the currentsupporting pose of the current supporting leg) of the biped robot inreal time, and adjusts the gait parameters of the next step of the bipedrobot using the preset algorithm accordingly, so as to realize the realtime correction of the gait parameters of the biped robot to avoid thedeviation of the preset path caused by the movement error, therebyensuring the coordination of the team of robots during movement andtheir consistency on the timeline.

FIG. 4 is a schematic block diagram of a robot according to anembodiment of the present disclosure. A computing device is provided.The computer device may be a server. As shown in FIG. 4 , the computingdevice includes a processor 41, a storage, a network interface 43, and adatabase 44 which are connected via a system bus. In which, theprocessor 41 is for realizing calculations and controls. The storageincludes a non-volatile storage medium and an internal memory 421. Thenon-volatile storage medium stores an operating system, a computerprogram, and the database 44. The internal memory 421 provides anenvironment for the execution of the operating system and computerprogram in the non-volatile storage medium. The database 44 is forstoring the first algorithm and other data. The network interface 43 isfor connecting and communicating with an external terminal via anetwork. When the computer program is executed by the processor 61, theabove-mentioned biped robot gait control method is implemented.

The steps of the above-mentioned target object detection model trainingmethod that are executed by the processor include:

S1: obtaining a current supporting pose of a current supporting leg ofthe two supporting legs of the biped robot.

S2: calculating a relative pose between the supporting legs of the bipedrobot based on the current supporting pose and a preset ideal supportingpose of a next step of the biped robot, where the relative pose betweenthe support feet is the preset ideal supporting pose of the next stepwith respect to the current supporting pose.

S3: calculating one or more gait parameters of the next step of thebiped robot based on the relative pose between the supporting legs and ajoint distance of left and right ankle joints of the biped robot in aninitial state of the biped robot.

S4: controlling a next supporting leg of the two supporting legs of thebiped robot to move according to the one or more gait parameters of thenext step.

Furthermore, the step S1 of obtaining a current supporting pose of acurrent supporting leg of the two supporting legs of the biped robotincludes:

S101: obtaining a centroid pose of a centroid of the biped robot in aglobal coordinate system and a supporting pose of the current supportingleg in a centroid coordinate system, where the centroid coordinatesystem is built by taking the centroid of the biped robot as an origin,and the global coordinate system corresponds to an entire environmentthe biped robot being located.

S102: obtaining the current supporting pose of the current supportingleg in the global coordinate system through a coordinate systemtransformation based on the supporting pose and the centroid pose.

Furthermore, the centroid is a midpoint of a straight line between thetwo hip joints two hip joints of the biped robot, and the obtaining thesupporting pose of the current supporting leg in the centroid coordinatesystem includes:

S1011: obtaining a hip joint angle, a knee joint angle, and an anklejoint angle of the current supporting leg.

S1012: analyzing the supporting pose of the current supporting leg inthe centroid coordinate system based on the hip joint angle, the kneejoint angle, the ankle joint angle, a thigh length of the currentsupporting leg, a calf length of the current supporting leg, and adistance between the two hip joints of the biped robot.

Furthermore, the step S4 of controlling a next supporting leg of the twosupporting legs of the biped robot to move according to the one or moregait parameters of the next step includes:

S401: performing an amplitude limiting on the one or more gaitparameters of the next step based on one or more preset ideal gaitparameters of the next step to obtain one or more modified gaitparameters.

S402: controlling the next supporting leg to move according to the oneor more modified gait parameters.

Furthermore, after the step 401 of performing the amplitude limiting onthe one or more gait parameters of the next step based on one or morepreset ideal gait parameters of the next step to obtain one or moremodified gait parameters, the method further includes:

S4021: determining whether a collision will occur after the nextsupporting leg moves according to the one or more modified gaitparameters.

S4022: correcting the one or more modified gait parameters according toa pose of an object going to collide with the next supporting leg toobtain one or more second modified gait parameters, in response to thecollision will occur after the next supporting leg moves according tothe one or more modified gait parameters.

S4023: controlling the next supporting leg to move according to the oneor more second modified gait parameters to avoid collision.

Furthermore, the gait parameters include a forward displacement, alateral displacement, and a yaw angle, and the step S2 of calculatingthe relative pose between the supporting legs of the biped robot basedon the current supporting pose and the preset ideal supporting pose ofthe next step of the biped robot include:

S201: substituting the current supporting pose and the preset idealsupporting pose of the next step into first equations to calculate therelative pose between the supporting legs, where the first equationsare:x ₃=(x ₂ −x ₁)×cos θ₁+(y ₂ −y ₁)×sin θ₁;y ₃=−(x ₂ −x ₁)×sin θ₁+(y ₂ −y ₁)×sin θ₁; andθ₃=θ₂−θ₁;

-   -   where x₁, y₁, and θ₁ represent the current supporting pose, x₁        represents a displacement in the x direction of the global        coordinate system, y₁ represents a displacement in the y        direction of the global coordinate system, and θ₁ represents a        yaw angle in the y direction of the global coordinate system;        x₂, y₂, and θ₂ represent the preset ideal supporting pose of the        next step, x₂ represents a displacement in the x direction of        the global coordinate system, y₂ represents a displacement in        the y direction of the global coordinate system, and θ₂        represents a yaw angle in the y direction of the global        coordinate system; and x₃ is a lateral displacement of the        relative pose between the supporting legs, y₃ is a forward        displacement of the relative pose between the supporting legs,        and θ₃ is a yaw angle of the relative pose between the        supporting legs.

Furthermore, the step S3 of calculating one or more gait parameters ofthe next step of the biped robot based on the relative pose between thesupporting legs and a joint distance of left and right ankle joints ofthe biped robot in an initial state of the biped robot includes:

S301: identifying whether the current supporting leg is a right foot ofthe two supporting legs.

S302: substituting the relative pose between the supporting legs and thejoint distance into second equations to calculate the one or more gaitparameters of the next step in response to the current supporting legbeing the right foot, where the second equations are:x ₄ =x ₃−α/2×sin θ₃;y ₄ =y ₃+α/2×(1+cos θ₃); andθ₄=θ₃;

-   -   where, x₄ is a lateral displacement of the one or more gait        parameters of the next step, y₄ is a forward displacement of the        one or more gait parameters of the next step, and θ₄ is a yaw        angle of the one or more gait parameters of the next step, and a        is the joint distance.

S303: substituting the relative pose between the supporting legs and thejoint distance into third equations to calculate the one or more gaitparameters of the next step in response to the current supporting legbeing not the left foot, where the third equations are:x ₄ =x ₃+α/2×sin θ₃;y ₄ =y ₃−α/2×(1+cos θ₃); andθ₄=θ₃.

The present disclosure further provides a non-transitory computerreadable storage medium storing a computer program. When the computerprogram is executed by a processor, the above-mentioned biped robot gaitcontrol method is implemented. The biped robot gait control methodincludes:

S1: obtaining a current supporting pose of a current supporting leg ofthe two supporting legs of the biped robot.

S2: calculating a relative pose between the supporting legs of the bipedrobot based on the current supporting pose and a preset ideal supportingpose of a next step of the biped robot, where the relative pose betweenthe support feet is the preset ideal supporting pose of the next stepwith respect to the current supporting pose.

S3: calculating one or more gait parameters of the next step of thebiped robot based on the relative pose between the supporting legs and ajoint distance of left and right ankle joints of the biped robot in aninitial state of the biped robot.

S4: controlling a next supporting leg of the two supporting legs of thebiped robot to move according to the one or more gait parameters of thenext step.

Furthermore, the step S1 of obtaining a current supporting pose of acurrent supporting leg of the two supporting legs of the biped robotincludes:

S101: obtaining a centroid pose of a centroid of the biped robot in aglobal coordinate system and a supporting pose of the current supportingleg in a centroid coordinate system, where the centroid coordinatesystem is built by taking the centroid of the biped robot as an origin,and the global coordinate system corresponds to an entire environmentthe biped robot being located.

S102: obtaining the current supporting pose of the current supportingleg in the global coordinate system through a coordinate systemtransformation based on the supporting pose and the centroid pose.

Furthermore, the centroid is a midpoint of a straight line between thetwo hip joints two hip joints of the biped robot, and the obtaining thesupporting pose of the current supporting leg in the centroid coordinatesystem includes:

S1011: obtaining a hip joint angle, a knee joint angle, and an anklejoint angle of the current supporting leg.

S1012: analyzing the supporting pose of the current supporting leg inthe centroid coordinate system based on the hip joint angle, the kneejoint angle, the ankle joint angle, a thigh length of the currentsupporting leg, a calf length of the current supporting leg, and adistance between the two hip joints of the biped robot.

Furthermore, the step S4 of controlling a next supporting leg of the twosupporting legs of the biped robot to move according to the one or moregait parameters of the next step includes:

S401: performing an amplitude limiting on the one or more gaitparameters of the next step based on one or more preset ideal gaitparameters of the next step to obtain one or more modified gaitparameters.

S402: controlling the next supporting leg to move according to the oneor more modified gait parameters.

Furthermore, after the step 401 of performing the amplitude limiting onthe one or more gait parameters of the next step based on one or morepreset ideal gait parameters of the next step to obtain one or moremodified gait parameters, the method further includes:

S4021: determining whether a collision will occur after the nextsupporting leg moves according to the one or more modified gaitparameters.

S4022: correcting the one or more modified gait parameters according toa pose of an object going to collide with the next supporting leg toobtain one or more second modified gait parameters, in response to thecollision will occur after the next supporting leg moves according tothe one or more modified gait parameters.

S4023: controlling the next supporting leg to move according to the oneor more second modified gait parameters to avoid collision.

Furthermore, the gait parameters include a forward displacement, alateral displacement, and a yaw angle, and the step S2 of calculatingthe relative pose between the supporting legs of the biped robot basedon the current supporting pose and the preset ideal supporting pose ofthe next step of the biped robot include:

S201: substituting the current supporting pose and the preset idealsupporting pose of the next step into first equations to calculate therelative pose between the supporting legs, where the first equationsare:x ₃=(x ₂ −x ₁)×cos θ₁+(y ₂ −y ₁)×sin θ₁;y ₃=−(x ₂ −x ₁)×sin θ₁+(y ₂ −y ₁)×sin θ₁; andθ₃=θ₂−θ₁;

-   -   where x₁, y₁, and θ₁ represent the current supporting pose, x₁        represents a displacement in the x direction of the global        coordinate system, y₁ represents a displacement in the y        direction of the global coordinate system, and θ₁ represents a        yaw angle in the y direction of the global coordinate system;        x₂, y₂, and θ₂ represent the preset ideal supporting pose of the        next step, x₂ represents a displacement in the x direction of        the global coordinate system, y₂ represents a displacement in        the y direction of the global coordinate system, and θ₂        represents a yaw angle in the y direction of the global        coordinate system; and x₃ is a lateral displacement of the        relative pose between the supporting legs, y₃ is a forward        displacement of the relative pose between the supporting legs,        and θ₃ is a yaw angle of the relative pose between the        supporting legs.

Furthermore, the step S3 of calculating one or more gait parameters ofthe next step of the biped robot based on the relative pose between thesupporting legs and a joint distance of left and right ankle joints ofthe biped robot in an initial state of the biped robot includes:

S301: identifying whether the current supporting leg is a right foot ofthe two supporting legs.

S302: substituting the relative pose between the supporting legs and thejoint distance into second equations to calculate the one or more gaitparameters of the next step in response to the current supporting legbeing the right foot, where the second equations are:x ₄ =x ₃−α/2×sin θ₃;y ₄ =y ₃+α/2×(1+cos θ₃); andθ₄=θ₃;

where, x₄ is a lateral displacement of the one or more gait parametersof the next step, y₄ is a forward displacement of the one or more gaitparameters of the next step, and θ₄ is a yaw angle of the one or moregait parameters of the next step, and a is the joint distance.

S303: substituting the relative pose between the supporting legs and thejoint distance into third equations to calculate the one or more gaitparameters of the next step in response to the current supporting legbeing not the left foot, where the third equations are:x ₄ =x ₃+α/2×sin θ₃;y ₄ =y ₃−α/2×(1+cos θ₃); andθ₄=θ₃.

It can be understood by those skilled in the art that, all or part ofthe process of the method of the above-mentioned embodiment can beimplemented by a computer program to instruct related hardware. Theprogram can be stored in a non-volatile computer readable storagemedium. When the program is executed, which can include the process ofeach method embodiment as described above. In which, any reference to astorage, a memory, a database or other medium used in each embodimentprovided by the present disclosure may include non-volatile and/orvolatile memory. Non-volatile memory can include read only memory (ROM),programmable ROM (PROM), electrically programmable ROM (EPROM),electrically erasable programmable ROM (EEPROM), or flash memory.Volatile memory can include random access memory (RAM) or external cachememory. As a description rather than a limitation, RAM can be in avariety of formats such as static RAM (SRAM), dynamic RAM (DRAM),synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhancedSDRAM (ESDRAM), synchronous link DRAM (SLDRAM), rambus direct RAM(RDRAM), direct rambus DRAM (DRDRAM), and rambus DRAM (RDRAM).

It should be noted that, in the present disclosure, the terms “include”,“comprise” or any other variants thereof are intended to covernon-exclusive inclusion, so that a process, apparatus (or device),article or method including a series of elements not only includes thoseelements but also includes other elements that are not explicitlylisted, or further includes elements inherent to the process, apparatus,article, or method. If there are no more restrictions, the elementdefined by the sentence “including a . . . ” does not exclude theexistence of other identical elements in the process, apparatus,article, or method that includes the element.

The forgoing descriptions are only the embodiments of the presentdisclosure, while do not limit the scope of this present disclosure. Anyequivalent structure or equivalent process transformation made using thecontent of the description and drawings of the present disclosure, ordirectly or indirectly applying the embodiments to other relatedtechnology is similarly included in the scope of the present disclosure.

What is claimed is:
 1. A computer-implemented gait control method for abiped robot having two supporting legs, comprising steps of: obtaining,by a camera on the biped robot, a current supporting pose of a currentsupporting leg of the two supporting legs of the biped robot in a globalcoordinate system, wherein the biped robot is moved according to apreset motion path in an entire environment, and a starting point of themotion path is taken as an origin of the global coordinate system;calculating a relative pose between the two supporting legs of the bipedrobot based on the current supporting pose and a preset ideal supportingpose of a next step of the biped robot, wherein the relative posebetween the two supporting legs is the preset ideal supporting pose ofthe next step with respect to the current supporting pose; calculatingone or more gait parameters of the next step of the biped robot based onthe relative pose between the supporting legs and a joint distance ofleft and right ankle joints of the biped robot in an initial state ofthe biped robot; and controlling a next supporting leg of the twosupporting legs of the biped robot to move according to the one or moregait parameters of the next step.
 2. The method of claim 1, wherein theobtaining, by the camera on the biped robot, the current supporting poseof the current supporting leg of the two supporting legs of the bipedrobot in the global coordinate system comprises: capturing, by thecamera, an image of an environment, and calculating a pose of the camerain the global coordinate system; obtaining a centroid pose of a centroidof the biped robot in the global coordinate system base on a coordinateconversion relationship between the camera and the centroid of the bipedrobot and the pose of the camera, and obtaining a supporting pose of thecurrent supporting leg in a centroid coordinate system, wherein thecentroid coordinate system is built by taking the centroid of the bipedrobot as an origin of the centroid coordinate system, the globalcoordinate system corresponds to the entire environment the biped robotbeing located, and the preset motion path is represented bycorresponding coordinates of points in the global coordinate system; andobtaining the current supporting pose of the current supporting leg inthe global coordinate system through a coordinate system transformationbased on the supporting pose and the centroid pose.
 3. The method ofclaim 2, wherein the centroid is a midpoint of a straight line betweentwo hip joints of the biped robot, and the obtaining the supporting poseof the current supporting leg in the centroid coordinate systemcomprises: obtaining a hip joint angle, a knee joint angle, and an anklejoint angle of the current supporting leg, wherein the hip joint angleis an included angle between a thigh of the current supporting leg andthe hip joint, the knee joint angle is an included angle between thethigh and a calf of the current supporting leg, and the ankle jointangle is an included angle between the calf and a sole of the currentsupporting leg; and analyzing the supporting pose of the currentsupporting leg in the centroid coordinate system based on the hip jointangle, the knee joint angle, the ankle joint angle, a thigh length ofthe current supporting leg, a calf length of the current supporting leg,and a distance between the two hip joints of the biped robot.
 4. Themethod of claim 1, wherein the controlling the next supporting leg ofthe two supporting legs of the biped robot to move according to the oneor more gait parameters of the next step comprises: performing anamplitude limiting on the one or more gait parameters of the next stepbased on one or more preset ideal gait parameters of the next step toobtain one or more modified gait parameters; and controlling the nextsupporting leg to move according to the one or more modified gaitparameters.
 5. The method of claim 4, wherein after the performing theamplitude limiting on the one or more gait parameters of the next stepbased on the one or more preset ideal gait parameters of the next stepto obtain the one or more modified gait parameters, further comprisingsteps of: determining whether a collision will occur after the nextsupporting leg moves according to the one or more modified gaitparameters; correcting the one or more modified gait parametersaccording to a pose of an object going to collide with the nextsupporting leg to obtain one or more second modified gait parameters, inresponse to the collision will occur after the next supporting leg movesaccording to the one or more modified gait parameters; and controllingthe next supporting leg to move according to the one or more secondmodified gait parameters to avoid collision.
 6. The method of claim 4,wherein the one or more gait parameters comprise a forward displacement,a lateral displacement, and a yaw angle, and the calculating therelative pose between the supporting legs of the biped robot based onthe current supporting pose and the preset ideal supporting pose of thenext step of the biped robot comprises: substituting the currentsupporting pose and the preset ideal supporting pose of the next stepinto first equations to calculate the relative pose between thesupporting legs, wherein the first equations are:x ₃=(x ₂ −x ₁)×cos θ₁+(y ₂ −y ₁)×sin θ₁;andθ₃=θ₂−θ₁; where x₁, y₁, θ₁ represent the current supporting pose, x₁represents a displacement in the x direction of a global coordinatesystem, y₁ represents a displacement in the y direction of the globalcoordinate system, and θ₁ represents a yaw angle; x₂, y₂, and θ₂represent the preset ideal supporting pose of the next step, x₂represents a displacement in the x direction of the global coordinatesystem, y₂ represents a displacement in the y direction of the globalcoordinate system, and θ₂ represents a yaw angle; and x₃ is a lateraldisplacement of the relative pose between the supporting legs, y₃ is aforward displacement of the relative pose between the supporting legs,and θ₃ is a yaw angle of the relative pose between the supporting legs.7. The method of claim 6, wherein the calculating the one or more gaitparameters of the next step of the biped robot based on the relativepose between the supporting legs and the joint distance of the left andright ankle joints of the biped robot in the initial state of the bipedrobot comprises: identifying whether the current supporting leg is aright foot of the two supporting legs; substituting the relative posebetween the supporting legs and the joint distance into second equationsto calculate the one or more gait parameters of the next step inresponse to the current supporting leg being the right foot, wherein thesecond equations are:x ₄ =x ₃−α/2×sin θ₃;y ₄ =y ₃−α/2×(1+cos θ₃); andθ₄=θ₃; where, x₄ is a lateral displacement of the one or more gaitparameters of the next step, y₄ is a forward displacement of the one ormore gait parameters of the next step, and θ₄ is a yaw angle of the oneor more gait parameters of the next step, and α is the joint distance;and substituting the relative pose between the supporting legs and thejoint distance into third equations to calculate the one or more gaitparameters of the next step in response to the current supporting legbeing not the left foot, wherein the third equations are:x ₄ =x ₃−α/2×sin θ₃;y ₄ =y ₃−α/2×(1+cos θ₃); andθ₄=θ₃;
 8. A robot comprising: a processor; a camera coupled to theprocessor; a memory coupled to the processor; and one or more computerprograms stored in the memory and executable on the processor; wherein,the one or more computer programs comprise: instructions for obtaining,by the camera, a current supporting pose of a current supporting leg ofthe two supporting legs of the biped robot in a global coordinatesystem, wherein the biped robot is moved according to a preset motionpath in an entire environment, and a starting point of the motion pathis taken as an origin of the global coordinate system; instructions forcalculating a relative pose between the two supporting legs of the bipedrobot based on the current supporting pose and a preset ideal supportingpose of a next step of the biped robot, wherein the relative posebetween the two supporting legs is the preset ideal supporting pose ofthe next step with respect to the current supporting pose; instructionsfor calculating one or more gait parameters of the next step of thebiped robot based on the relative pose between the supporting legs and ajoint distance of left and right ankle joints of the biped robot in aninitial state of die biped robot; and instructions for controlling anext supporting leg of the two supporting legs of the biped robot tomove according to the one or more gait parameters of the next step. 9.The robot of claim 8, wherein the instructions for obtaining the currentsupporting pose of the current supporting leg of the two supporting legsof the biped robot comprise: instructions for obtaining a centroid poseof a centroid of the biped robot in the global coordinate system and asupporting pose of the current supporting leg in a centroid coordinatesystem, wherein the centroid coordinate system is built by taking thecentroid of the biped robot as an origin of the centroid coordinatesystem, and the global coordinate system corresponds to the entireenvironment the biped robot being located; and instructions forobtaining the current supporting pose of the current supporting leg inthe global coordinate system through a coordinate system transformationbased on the supporting pose and the centroid pose.
 10. The robot ofclaim 9, wherein the centroid is a midpoint of a straight line betweentwo hip joints of the biped robot, and the instructions for obtainingthe supporting pose of the current supporting leg in the centroidcoordinate system comprise: instructions for obtaining a hip jointangle, a knee joint angle, and an ankle joint angle of the currentsupporting leg; and instructions for analyzing the supporting pose ofthe current supporting leg in the centroid coordinate system based onthe hip joint angle, the knee joint angle, the ankle joint angle, athigh length of the current supporting leg, a calf length of the currentsupporting leg, and a distance between the two hip joints of the bipedrobot.
 11. The robot of claim 8, wherein the instructions forcontrolling the next supporting leg of the two supporting legs of thebiped robot to move according to the one or more gait parameters of thenext step comprise: instructions for performing an amplitude limiting onthe one or more gait parameters of the next step based on one or morepreset ideal gait parameters of the next step to obtain one or moremodified gait parameters; and instructions for controlling the nextsupporting leg to move according to the one or more modified gaitparameters.
 12. The robot of claim 11, wherein the one or more computerprograms further comprise: instructions for determining whether acollision will occur after the next supporting leg moves according tothe one or more modified gait parameters; instructions for correctingthe one or more modified gait parameters according to a pose of anobject going to collide with the next supporting leg to obtain one ormore second modified gait parameters, in response to the collision willoccur after the next: supporting leg moves according to the one or moremodified gait parameters; and instructions for controlling, the nextsupporting leg to move according to the one or more second modified gaitparameters to avoid collision.
 13. The robot of claim 11, wherein theone or more gait parameters comprise a forward displacement, a lateraldisplacement, and a yaw angle, and the instructions for calculating therelative pose between the supporting legs of the biped robot based onthe current supporting pose and the preset ideal supporting pose of thenext step of the biped robot comprise: instructions for substituting thecurrent supporting pose and the preset ideal supporting pose of the nextstep into first equations to calculate the relative pose between thesupporting legs, wherein the first equations are:x ₃=(x ₂ −x ₁)×cos θ₁+(y ₂ −y ₁)×sin θ₁;andθ₃=θ₂−θ₁; where x₁, y₁, and θ₁ represent the current supporting pose, x₁represents a displacement in the x direction of a global coordinatesystem, y₁ represents a displacement in the y direction of the globalcoordinate system, and θ₁ represents a yaw angle; x₂, y₂, and θ₂,represent the preset ideal supporting pose of the next step, x₂represents a displacement in the x direction of the global coordinatesystem, y₂ represents a displacement in the y direction of the globalcoordinate system, and θ₂ represents a yaw angle; and x₃ is a lateraldisplacement of the relative pose between the supporting legs, y₃ is aforward displacement of the relative pose between the supporting legs,and θ₃ is a yaw angle of the relative pose between the supporting legs.14. The robot of claim 13, wherein the instructions for calculating theone or more gait parameters of the next step of the biped robot based onthe relative pose between the supporting legs and the joint distance ofthe left and right ankle joints of the biped robot in the initial stateof the biped robot comprise: instructions for identifying whether thecurrent supporting leg is a right foot of the two supporting legs;instructions for substituting the relative pose between the supportinglegs and the joint distance into second equations to calculate the oneor more gait parameters of the next step in response to the currentsupporting leg being the right foot, wherein the second equations are:x ₄ =x ₃−α/2×sin θ₃;y ₄ =y ₃−α/2×(1+cos θ₃); andθ₄=θ₃; where, x₄ is a lateral displacement of the one or more gaitparameters of the next step, y₄ is a forward displacement of the one ormore gait parameters of the next step, and θ₄ is a yaw angle of the oneor more gait parameters of the next step, and α is the joint distance;and instructions for substituting the relative pose between thesupporting legs and the joint distance into third equations to calculatethe one or more gait parameters of the next step in response to thecurrent supporting leg being not the left foot, wherein the thirdequations are:x ₄ =x ₃−α/2×sin θ₃;y ₄ =y ₃−α/2×(1+cos θ₃); andθ₄=θ₃;
 15. A non-transitory computer readable storage medium for storingone or more computer programs, wherein the one or more computer programscomprise: instructions for obtaining, by a camera on a biped robot, acurrent supporting pose of a current supporting leg of the twosupporting legs of the biped robot in a global coordinate system,wherein the biped robot is moved according to a preset motion path in anentire environment, and a starting point of the Motion path is taken asan origin of the global coordinate system; instructions for calculatinga relative pose between the two supporting legs of the biped robot basedon the current supporting pose and a preset ideal supporting pose of anext step of the biped robot, wherein the relative pose between the twosupporting legs is the preset ideal supporting pose of the next stepwith respect to the current supporting pose; instructions forcalculating one or more gait parameters of the next step of the bipedrobot based on the relative pose between the supporting legs and a jointdistance of left and right ankle joints of the biped robot in an initialstate of the biped robot; and instructions for controlling a nextsupporting leg of the two supporting legs of the biped robot to moveaccording to the one or more gait parameters of the next step.
 16. Thestorage medium of claim 15, wherein the instructions for obtaining thecurrent supporting pose of the current supporting leg of the twosupporting legs of the biped robot comprise: instructions for obtaininga centroid pose of a centroid of the biped robot in the globalcoordinate system and a supporting pose of the current supporting tog ina centroid coordinate system, wherein the centroid coordinate system isbuilt by taking the centroid of the biped robot as an origin of thecentroid coordinate system, and the global coordinate system correspondsto the entire environment the biped robot being located; andinstructions for obtaining the current supporting pose of the currentsupporting leg in the global coordinate system through a coordinatesystem transformation based on the supporting pose and the centroidpose.
 17. The storage medium of claim 16, wherein the centroid is amidpoint of a straight line between two hip joints of the biped robot,and the instructions for obtaining the supporting pose of the currentsupporting leg in the centroid coordinate system comprise: instructionsfor obtaining a hip joint angle, a knee joint angle, and an ankle jointangle of the current supporting leg; and instructions for analyzing thesupporting pose of the current supporting leg in the centroid coordinatesystem based on the hip joint angle, the knee joint angle, the anklejoint angle, a thigh length of the current supporting leg, a calf lengthof the current supporting leg, and a distance between the two hip jointsof the biped robot.
 18. The storage medium of claim 15, wherein theinstructions for controlling the next supporting leg of the twosupporting legs of the biped robot to move according to the one or moregait parameters of the next step comprise: instructions for performingan amplitude limiting on the one or more gait parameters of the nextstep based on one or more preset ideal gait parameters of the next stepto obtain one or more modified gait parameters; and instructions forcontrolling the next supporting leg to move according to the one or moremodified gait parameters.
 19. The storage medium of claim 18, whereinthe one or more computer programs further comprise: instructions fordetermining whether a collision will occur after the next supporting legmoves according to the one or more modified gait parameters;instructions for correcting the one or more modified gait parametersaccording to a pose of an object going to collide with the nextsupporting leg to obtain one or more second modified gait parameters, inresponse to the collision will occur after the next supporting leg movesaccording to the one or more modified gait parameters; and instructionsfor controlling the next supporting leg to move according to the one ormore second modified gait parameters to avoid collision.
 20. The storagemedium of claim 18, wherein the one or more gait parameters comprise aforward displacement, a lateral displacement, and a yaw angle, and theinstructions for calculating the relative pose between the supportinglegs of the biped robot based on the current supporting pose and thepreset ideal supporting pose of the next step of the biped robotcomprise: instructions for substituting the current supporting pose andthe preset ideal supporting pose of the next step into first equationsto calculate the relative pose between the supporting legs, wherein thefirst equations are:x ₃=(x ₂ −x ₁)×cos θ₁+(y ₂ −y ₁)×sin θ₁;andθ₃=θ₂−θ₁; where x₁, y₁, and θ₁ represent the current supporting pose, x₁represents a displacement in the x direction of a global coordinatesystem, y₁ represents a displacement in the y direction of the globalcoordinate system, and θ₁ represents a yaw angle; x₂, y₂, and θ₂represent the preset ideal supporting pose of the next step, x₂represents a displacement in the x direction of the global coordinatesystem, y₂ represents a displacement in the y direction of the globalcoordinate system, and θ₂ represents a yaw angle; and x₃ is a lateraldisplacement of the relative pose between the supporting legs, y₃ is aforward displacement of the relative pose between the supporting legs,and θ₃ is a yaw angle of the relative pose between the supporting legs.